CN107263521A - Magnetic suction disc assembly with adjust automatically and adaptive functions - Google Patents
Magnetic suction disc assembly with adjust automatically and adaptive functions Download PDFInfo
- Publication number
- CN107263521A CN107263521A CN201710670258.6A CN201710670258A CN107263521A CN 107263521 A CN107263521 A CN 107263521A CN 201710670258 A CN201710670258 A CN 201710670258A CN 107263521 A CN107263521 A CN 107263521A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- magnetic
- suction
- chuck assembly
- magnetic chuck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000006870 function Effects 0.000 title claims abstract description 12
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 7
- 238000001179 sorption measurement Methods 0.000 claims abstract description 26
- 230000006978 adaptation Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 239000004519 grease Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 abstract description 7
- 241000252254 Catostomidae Species 0.000 abstract description 6
- 230000001788 irregular Effects 0.000 abstract description 6
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 239000007769 metal material Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000004557 technical material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of magnetic suction disc assembly with adjust automatically and adaptive functions, absorption of workpieces face can be adapted to automatically, including inhale by device, drive device and de- part device；De- part device takes off part plate, rear fixed plate and front and rear panel connecting rod after including；Drive device is directly anchored on de- part device, and between the two in the absence of relative motion, two devices are affixed directly on manipulator；Suction is made up of by device multiple execution units and fixed plate；Inhaled by drive device driving and take and unload workpiece by device.The magnetic suction disc assembly includes multiple independent suckers, when running into irregular or out-of-flatness absorption of workpieces face, inhale and take device to be carried out according to the height in absorption of workpieces face adaptively, sucker and adsorption plane (plane can be increased and decreased, the irregular face such as convex surface, concave surface) contact area, so as to improve or reduce absorption affinity, hollow out workpiece many, having raised brim or projecting point greatly can be adsorbed, greater area of absorption is ensure that, adaptation function is realized.
Description
Technical Field
The invention belongs to the field of industrial automation, and particularly relates to a magnetic sucker assembly with automatic adjustment and adaptation functions.
Background
Irregular metal workpieces are used in the production of the automotive industry, the machine tool industry and other industrial products. In the automatic production process, the grabbing and the unloading of the metal workpiece are automatically completed by a machine. Metal workpieces can be divided into magnetic metal materials and non-magnetic metal materials. The non-magnetic metal material can be conveyed by a pneumatic or electric paw, and the magnetic technical material can be conveyed by a magnetic sucker. In actual production, workpieces are usually held high, held low, turned over, and the like according to different carrying requirements. Although such complicated actions can be easily realized by the motor, the pneumatic and the control system, further improvement of the production efficiency is required, and the problem of the firmness of taking the metal workpiece is a key factor.
In an automated production line, a significant portion of the work pieces are picked up using pneumatic robotic grippers. By adopting the mode, the workpiece is not easy to fall off, the stability is relatively good, but when the air source or the power supply is interrupted, the workpiece grabbed by the pneumatic mechanical gripper also falls off inevitably. In addition, the pneumatic manipulator is low in working efficiency of taking, and particularly when a workpiece is placed in a situation with a superposition requirement, the mechanical gripper has certain limitation in use; for a production line which needs to change the model of a workpiece frequently, the switching time affects the production rhythm. Resulting in a reduction in productivity and production efficiency.
Suction cups are commonly used to pick up workpieces or components that are not typically held or retained. Suction cups are generally classified into vacuum cups and magnetic cups. Vacuum chucks are commonly used to hold more regular devices such as glass, electronic devices, food packaging, ring devices, and the like. Magnetic chucks are generally used to attract materials that are magnetically attracted (iron, cobalt, nickel, etc.). Magnetic suction cups can be generally divided into electromagnetic and permanent magnetic suction cups. The electromagnetic chuck controls the adsorption and the release of a workpiece by depending on the power-on or power-off of the coil, and the permanent magnetic chuck controls the taking or the release by depending on the distance between the magnetic block and the workpiece. Both the electromagnetic and permanent magnet blocks have polarity, and magnetic chucks are also generally planar or standard arcuate surfaces. Therefore, the common suction workpiece is also a standard or regular workpiece, and if the workpiece is irregular or has a large hollow suction surface, the vacuum chuck or the magnetic chuck can fall off when the workpiece is sucked.
The attraction force of the magnetic chuck is related to the contact area of the actually attracted surface of the workpiece in addition to the magnetic flux thereof. The actual adsorbable area refers to the actual contact area of the workpiece surface and the magnetic chuck. When the adsorbable surface of the workpiece is uneven and has a protruding edge or a protruding point or a larger hole, the adsorbable area of the magnetic sucker is reduced, the reduction of the adsorbability is caused by the reduction of the adsorbability, the adsorbability of the workpiece is finally reduced, and the workpiece can fall off under severe conditions.
Therefore, a new magnetic chuck is urgently needed to be provided at present, and the problem of taking and adsorbing a workpiece which is large and much hollow or has a raised edge or a raised point can be solved.
Disclosure of Invention
The invention aims to provide a magnetic sucker assembly with automatic adjustment and adaptation functions, which can increase or decrease the contact area between a sucker and an adsorption surface (irregular surfaces such as planes, convex surfaces, concave surfaces and the like), thereby improving or reducing the adsorption force, and adsorbing workpieces which are large and numerous in hollowness and have convex edges or protruding points.
In order to achieve the purpose, the invention provides a magnetic sucker assembly with automatic adjustment and adaptation functions, which comprises a plurality of independent suckers, a driving device and a piece releasing device, wherein the independent suckers can adapt to the adsorption surface of a workpiece; the stripping device comprises a rear stripping plate, a rear fixing plate and a front and rear plate connecting rod; the driving device is directly fixed on the stripping device, relative motion does not exist between the driving device and the stripping device, and the two devices are directly fixed on the mechanical arm; the suction device consists of a plurality of execution units and a fixing plate; the driving device drives the suction device to move forward to take and unload the workpiece.
Furthermore, the stripper plate is provided with a magnetic block through hole, when the magnetic block extends out of the magnetic block through hole of the stripper plate, the magnetic block is contacted with the adsorption surface of the workpiece to realize adsorption, and when the magnetic block returns to the stripper plate, the workpiece is unloaded.
Further, the driving device comprises a driving source and a connecting rod; the driving device is connected with the sucking and holding fixing plate of the sucking and holding device through a connecting rod. The driving source drives the connecting rod to realize the telescopic action, so as to drive the suction fixing plate to stretch and further drive the suction device to realize the adsorption and the unloading of the workpiece; the end point position of the driving is the adsorption surface of the workpiece.
Furthermore, the execution units comprise magnetic blocks, magnetic block telescopic bodies, air source introduction ports and air sources.
Further, the magnetic block telescopic body comprises a connecting shaft, an outer cylinder body and viscosity sealing grease positioned between the connecting shaft and the outer cylinder body; the magnetic block in the execution unit is connected with a connecting shaft in the magnetic block telescopic body, the connecting shaft is matched with the outer cylinder body in a piston mode, and viscosity sealing grease is injected between the connecting shaft and the outer cylinder body; the outer cylinder body is sealed with the air source introducing port and introduces an air source.
Further, the air source is connected with the magnetic block telescopic body through the air source inlet, so that the connecting shaft is driven to extend out by leaning on the air source.
Furthermore, the position of the magnetic block telescopic body when the magnetic block telescopic body absorbs the workpiece is determined by the positions of the magnetic block and the workpiece absorption surface; when the workpiece is unloaded, the extension of the connecting shaft in the magnetic block telescopic body is longest.
Further, the pressure of the gas source is 0.2-0.5 MPa.
Further, the driving means may be a linear motion driving source; preferably a cylinder, an electric cylinder or a hydro cylinder.
Further, the stripping device is made of nonmagnetic materials.
The invention has the beneficial effects that: the magnetic sucker assembly provided by the invention comprises a plurality of independent suckers (single execution units), when a workpiece adsorption surface with irregularity or unevenness is encountered, the sucking device can be self-adapted according to the height of the workpiece adsorption surface, and the specific expression form is that the adsorption of each execution unit has the function of realizing automatic adjustment according to the flatness of the workpiece surface. When the actuator is in contact with the raised surface position of the workpiece, the protrusion amount of the actuator is small. When the execution unit is in contact with the surface position of the workpiece recess, the protruding amount of the execution unit is large. The execution unit has the telescopic function, so that the magnetic sucker assembly can be contacted with the surface of a workpiece in a larger area for sucking in the workpiece sucking process, and the plane, the convex surface and the concave surface of the workpiece are adsorbed in the working process, so that the adsorption force is improved; the suction cup assembly can adsorb workpieces with large and large hollows and convex edges or protruding points, and the contact area between the suction cup assembly and an adsorption surface (irregular surfaces such as planes, convex surfaces, concave surfaces and the like) can be flexibly increased or decreased, so that the adsorption force is improved or reduced, and the self-adaptive function is realized.
Drawings
FIG. 1 is a schematic perspective view of a magnetic chuck assembly according to the present invention;
FIG. 2 is a schematic diagram of the structure of an execution unit (independent sucker) of the present invention;
FIG. 3 is a schematic view of the configuration of the independent suction cup of the present invention when retracted;
FIG. 4 is a schematic view of the stand-alone suction cup of the present invention in an extended configuration;
fig. 5 is a schematic structural view of the suction cup of the present invention sucking a workpiece.
Detailed Description
The invention is described in further detail below with reference to the figures and the examples, but without limiting the invention.
The invention provides a magnetic sucker assembly with automatic adjustment and adaptation functions, which can automatically adapt to the adsorption surface of a workpiece. As shown in fig. 1-5, the magnetic chuck assembly includes a suction device 100, a driving device 200, and a stripper device 300. The stripping device 300 includes a rear stripping plate 301, a rear fixing plate 302, and a front-rear plate connecting rod 303. The driving device 200 is directly fixed to the stripper device 300 without relative movement between the two, and both devices are directly fixed to the robot. The suction device 100 is composed of a plurality of actuating units 101 and a fixing plate 102. The number of the execution units 101 is attached to the fixed plate 102 in accordance with the use of the work, and the fixed plate 102 and the execution units 101 move (extend and contract) simultaneously during the entire process of picking up and unloading, and the picking-up device 100 is driven by the driving device 200 to advance during operation, thereby picking up and unloading the work 000. In the adsorption process, there is a time difference in the adsorption time of the independent execution unit 101, and the convex point or the convex surface of the workpiece 000 is adsorbed first, and the concave point or the concave surface is adsorbed later. When the workpiece 000 is unloaded, the execution unit 101 desorbs at the same time as the workpiece 000. The driving source 20 may be a cylinder, a motor, or the like.
Fig. 2 is a block diagram of an execution unit (independent suction cup) of the present invention. The execution unit 101 comprises a magnetic block 10, a magnetic block telescopic body 11, an air source inlet 12 and an air source 13. The magnetic block telescopic body 11 comprises a connecting shaft 11a, an outer cylinder 11b and viscosity sealing grease 11c positioned between the connecting shaft and the outer cylinder. The magnet 10 in the actuator unit 101 is connected with a connecting shaft 11a in the magnet telescopic body 11, the connecting shaft 11a is matched with an outer cylinder 11b in a piston mode, and a viscosity sealing grease 11c is injected between the connecting shaft 11a and the outer cylinder 11 b. The outer cylinder 11b is sealed from the gas source introduction port 12 and introduces the gas source 13.
Preferably, the pressure of the gas source 13 is 0.2-0.5 MPa. The air source 13 is connected to the magnetic block telescopic body 11 through the air source inlet 12 so as to drive the connecting shaft 11a to extend by means of the air source. The invention does not set the number of execution units (independent suckers), and the number of the independent suckers is related to the size and the shape of the sucked workpiece. When the suction cup is in work, the suction force is larger when the number of the independent suction cups is larger, the weight of the workpiece can be sucked, and the suction force is smaller. The number of independent suction cups to be opened can be determined according to the weight and shape of the workpiece to be taken.
According to the invention, the stripper plate 301 is provided with a magnetic block through hole, and when the magnetic block 10 extends out of the magnetic block through hole of the stripper plate 301, the magnetic block 10 is contacted with the adsorption surface of the workpiece 000 to realize adsorption. When the magnetic block 10 is retreated to the stripper plate 301, the workpiece 000 is unloaded.
Preferably, the driving device (200) includes a driving source 20 and a connecting rod 21; the driving device 200 is connected to the suction fixing plate 102 of the suction device 100 through the connecting rod 21. The driving source 20 drives the connecting rod 21 to perform a telescopic action, so as to drive the suction fixing plate 102 to extend and retract, and further drive the suction device 100 to perform the suction and the removal of the workpiece 000. The end position of the driving is the suction surface of the workpiece 000. The position of the magnetic block telescopic body 11 when sucking the workpiece 000 is determined by the position of the magnetic block 10 and the suction surface of the workpiece 000. When the workpiece 000 is unloaded, the amount of protrusion of the connecting shaft 11a in the magnetic block telescopic body 11 is longest.
According to the present invention, the driving device 200 may be a linear motion driving source; preferably a cylinder, an electric cylinder or a hydro cylinder. The stripping means 300 may be a non-magnetic material.
The magnetic chuck is a contact type sucking method, in general, the whole surface or part of the surface of a workpiece can be in contact with a magnetic disk in the sucking process, and the contact area is an important factor for determining the strength of the sucking force. Therefore, the technical scheme of the invention solves the problem of how to realize large-area bonding.
In operation, the magnetic chuck assembly is mounted to the robot arm such that the attracting surface of the magnet block 10 is positioned at the front of the stripper unit 300 before the robot arm is not picking. The distance between the adsorption surface of the magnetic block and the stripping surface of the stripping device 300 is more than or equal to 5mm, and the magnetic sucker assembly leans against the manipulator to be close to the workpiece 000. The whole execution action is that the air source 13 is filled with air into the outer cylinder body 11b, so that the connecting shaft 11a is pushed to drive the magnetic block 10 to reach the outer end of the sucker. The execution unit 101 (independent suction cup) is brought into a position to be sucked. After the mechanical arm brings the magnetic chuck assembly close to the workpiece, the mechanical arm reaches the position to be sucked of the workpiece, and the driving device 200 is turned on, so that the driving source 20 drives the connecting rod 21 to move downwards, thereby driving the sucking device 100 to move towards the workpiece 000. When the independent suction cups in the adaptive suction cup group touch the high point of the workpiece 000, the suction surfaces of the independent suction cups do not move any more, but the rest independent suction cups continue to move under the action of the driving source 20 until the suction surfaces of the magnetic blocks 10 contact the workpiece, and then the suction surfaces of the independent suction cups do not move any more.
That is, when the workpiece 000 moves to the suction surface, the driving device 200 turns off the driving source 20, which causes the connecting rod 21 to stop moving, so that the suction fixing plate 102 connected to the connecting rod 21 stops moving, the suction device 100 stops moving, the actuator 101 stops moving, and the protruding point 01, the concave surface 02, the hole 03, or the like in the suction surface of the workpiece 000 is sucked by the magnetic block. When the suction surface of each independent suction cup of the whole magnetic suction cup assembly is attached to the workpiece, the stroke of the driving source 20 is finished. Then the magnetic chuck circular telegram, adsorb the work piece on the sucking disc, at this moment, the manipulator is according to the work that designs in advance, inhales the work piece and takes appointed position, then the magnetic chuck outage, and every electromagnetic chuck on the independent sucking disc all cuts off the power supply and loses magnetic force, and the work piece separates with the disk and puts on appointed position this moment, has accomplished the absorption of once accomplishing and has taken.
The viscous force of the viscous sealing grease 11c is greater than the force of the swinging or swinging of the manipulator with respect to the connecting shaft 11a, and therefore, the stability of memory can be maintained. The independent sucker can be kept according to the memory just before until the product model is changed according to the production requirement, air is introduced into the outer cylinder body 11b by using the air source 13, and at the moment, the connecting shaft 11a is free from the constraint of the viscosity sealing grease 11c and pushes the connecting shaft 11a to reach the positioning gear of the outer cylinder body 11 b. When the workpiece is sucked, the sucker is adaptive to the surface and specification of the existing workpiece and is subjected to novel matching, so that the positioning and adaptive processes are realized. The viscosity force of the viscosity sealing grease 11c is smaller than the driving force of the air source, so that the memory sucker can be ensured to be reset in time.
The picking process is that after a plurality of execution units 101 extend out of the front baffle 301, the execution units 101 contact with the surface of the workpiece 000 to realize adsorption, and in the working process, the execution units 101 are together used for realizing the adsorption of the surface of the workpiece 000, each execution unit 101 in the picking device 100 can realize the adjustment of a non-flat adsorption surface by means of the self-adjusting part 11 in the execution unit 101 according to the difference of the concave-convex of the surface of the workpiece, and when the workpiece 000 is picked or unloaded, the magnetic blocks 10 on the execution units 101 on the picking device 100 are in contact with the surface of the workpiece 000. The unloading process is that the execution unit retracts, the workpiece 000 is blocked by the baffle plate of the front connecting plate 102, the execution unit retracts to the back of the connecting plate 102, and the workpiece 000 is disengaged from the magnetic blocks 10 on the execution units 101 on the picking device 100. And finishing unloading.
Of course, the above is a preferred embodiment of the present invention. It should be noted that, for a person skilled in the art, several modifications and refinements can be made without departing from the basic principle of the invention, and these modifications and refinements are also considered to be within the protective scope of the invention.
Claims (10)
1. A magnetic chuck assembly with automatic adjustment and adaptation functions can adapt to the adsorption surface of a workpiece in a self-adapting mode and comprises a suction device (100), a driving device (200) and a workpiece releasing device (300); wherein,
the stripping device (300) comprises a rear stripping plate (301), a rear fixing plate (302) and a front and rear plate connecting rod (303);
the driving device (200) is directly fixed on the stripper device (300), no relative movement exists between the driving device and the stripper device, and the two devices are directly fixed on the manipulator;
the suction device (100) consists of a plurality of execution units (101) and a fixing plate (102); the suction device (100) is driven by the driving device (200) to move forward, and the workpiece (000) is taken in and taken out.
The viscosity force of the positioning grease 104 is larger than the force of the swing of the manipulator to the positioning rod 102. The stability of memory is kept.
The independent sucker 10 is composed of an electromagnetic sucker 101, a positioning rod 102, a buffer cylinder 103, positioning grease 104 and an air source 105.
And the independent sucker can be kept according to the memory, until the model of the product needs to be changed according to production needs, air is introduced into the buffer cylinder 103 by using the air source 105, and at the moment, the positioning rod 102 is free from the constraint of the positioning grease 103, and the positioning rod is pushed to reach the positioning gear of the buffer cylinder. The air is turned off. When the workpiece is sucked, the sucker is adaptive to the surface and specification of the existing workpiece and is matched with the existing workpiece in a novel mode. An adaptive process is implemented.
2. The magnetic chuck assembly of claim 1, wherein the stripper plate (301) has a magnet block through hole, the magnet block (10) contacts the suction surface of the workpiece (000) to suction when the magnet block (10) extends through the magnet block through hole of the stripper plate (301), and the workpiece (000) is unloaded when the magnet block (10) is retracted behind the stripper plate (301).
3. The magnetic chuck assembly of claim 1, wherein the drive means (200) includes a drive source (20) and a connecting rod (21); the driving device (200) is connected with the suction fixing plate (102) of the suction device (100) through a connecting rod (21);
the driving source (20) drives the connecting rod (21) to realize the telescopic action, so as to drive the suction fixing plate (102) to stretch and further drive the suction device (100) to realize the adsorption and the unloading of the workpiece (000); the end point position of the driving is the suction surface of the workpiece (000).
4. The magnetic chuck assembly of claim 1, wherein the plurality of actuating units (101) comprises a magnet (10), a magnet telescopic body (11), an air source inlet (12) and an air source (13).
5. The magnetic chuck assembly of claim 4 wherein the magnet telescopic body (11) comprises a connecting shaft (11a), an outer cylinder (11b) and a viscous sealing grease (11c) therebetween;
the magnetic block (10) in the execution unit (101) is connected with a connecting shaft (11a) in a magnetic block telescopic body (11), the connecting shaft (11a) is matched with the outer cylinder body (11b) in a piston mode, and viscosity sealing grease (11c) is injected between the connecting shaft (11a) and the outer cylinder body (11 b);
the outer cylinder (11b) is sealed from the gas source introduction port (12) and introduces a gas source (13).
6. The magnetic chuck assembly of claim 4, wherein the air source (13) is connected to the magnet telescopic body (11) through an air source inlet (12) so as to extend against the air source driving connecting shaft (11 a).
7. The magnetic chuck assembly of claim 4,
the position of the magnetic block telescopic body (11) when the workpiece (000) is sucked is determined by the positions of the magnetic block (10) and the suction surface of the workpiece (000);
when the workpiece (000) is unloaded, the extension amount of a connecting shaft (11a) in the magnetic block telescopic body (11) is longest.
8. The magnetic chuck assembly of claim 5, wherein the gas source (13) is introduced at a pressure of 0.2-0.5 MPa.
9. The magnetic chuck assembly of claim 1, wherein the drive means (200) is a linear drive source; preferably a cylinder, an electric cylinder or a hydro cylinder.
10. The magnetic chuck assembly of claim 1, wherein the stripper means (300) is a non-magnetic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670258.6A CN107263521A (en) | 2017-08-09 | 2017-08-09 | Magnetic suction disc assembly with adjust automatically and adaptive functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670258.6A CN107263521A (en) | 2017-08-09 | 2017-08-09 | Magnetic suction disc assembly with adjust automatically and adaptive functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263521A true CN107263521A (en) | 2017-10-20 |
Family
ID=60076875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710670258.6A Pending CN107263521A (en) | 2017-08-09 | 2017-08-09 | Magnetic suction disc assembly with adjust automatically and adaptive functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263521A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628462A (en) * | 2017-10-24 | 2018-01-26 | 东莞市李群自动化技术有限公司 | A kind of fixture that adhesive tape is attached for stepped surfaces |
| CN108214532A (en) * | 2017-12-29 | 2018-06-29 | 广东欧珀移动通信有限公司 | Suction means |
| CN108357922A (en) * | 2018-02-05 | 2018-08-03 | 浙江金康铜业有限公司 | A kind of the feeding shifting material equipment and its feeding shifting material method of copper coin material |
| CN109454663A (en) * | 2018-11-19 | 2019-03-12 | 上海发那科机器人有限公司 | A kind of gripper applied to the irregular plate parts of surface shape |
| CN109927064A (en) * | 2019-01-31 | 2019-06-25 | 丹阳启亮机械有限公司 | A kind of full-automatic sawtooth welder manipulator feeding arm component |
| CN111805509A (en) * | 2019-04-12 | 2020-10-23 | 西南交通大学 | Conveying equipment and conveying method applied to furniture plate processing |
| CN112139678A (en) * | 2020-10-21 | 2020-12-29 | 陈月圆 | Workpiece clamp and clamping method based on workpiece characteristic self-adaptive adjustment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2237140Y (en) * | 1995-06-29 | 1996-10-09 | 赵月 | Energy saving oil and gas cylinder |
| US20090314112A1 (en) * | 2008-06-23 | 2009-12-24 | Melville Robert | Robotic gripper |
| CN203092575U (en) * | 2012-12-17 | 2013-07-31 | 广东昭信平洲电子有限公司 | Magnetic material gripping nozzle device |
| CN203486601U (en) * | 2013-09-02 | 2014-03-19 | 广东生益科技股份有限公司 | Plate suction device automatically adapted to shape of plate surface |
| CN105966914A (en) * | 2016-05-28 | 2016-09-28 | 上海大学 | Transferring manipulator for central pipes of filter element |
-
2017
- 2017-08-09 CN CN201710670258.6A patent/CN107263521A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2237140Y (en) * | 1995-06-29 | 1996-10-09 | 赵月 | Energy saving oil and gas cylinder |
| US20090314112A1 (en) * | 2008-06-23 | 2009-12-24 | Melville Robert | Robotic gripper |
| CN203092575U (en) * | 2012-12-17 | 2013-07-31 | 广东昭信平洲电子有限公司 | Magnetic material gripping nozzle device |
| CN203486601U (en) * | 2013-09-02 | 2014-03-19 | 广东生益科技股份有限公司 | Plate suction device automatically adapted to shape of plate surface |
| CN105966914A (en) * | 2016-05-28 | 2016-09-28 | 上海大学 | Transferring manipulator for central pipes of filter element |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628462A (en) * | 2017-10-24 | 2018-01-26 | 东莞市李群自动化技术有限公司 | A kind of fixture that adhesive tape is attached for stepped surfaces |
| CN108214532A (en) * | 2017-12-29 | 2018-06-29 | 广东欧珀移动通信有限公司 | Suction means |
| CN108357922A (en) * | 2018-02-05 | 2018-08-03 | 浙江金康铜业有限公司 | A kind of the feeding shifting material equipment and its feeding shifting material method of copper coin material |
| CN109454663A (en) * | 2018-11-19 | 2019-03-12 | 上海发那科机器人有限公司 | A kind of gripper applied to the irregular plate parts of surface shape |
| CN109927064A (en) * | 2019-01-31 | 2019-06-25 | 丹阳启亮机械有限公司 | A kind of full-automatic sawtooth welder manipulator feeding arm component |
| CN111805509A (en) * | 2019-04-12 | 2020-10-23 | 西南交通大学 | Conveying equipment and conveying method applied to furniture plate processing |
| CN112139678A (en) * | 2020-10-21 | 2020-12-29 | 陈月圆 | Workpiece clamp and clamping method based on workpiece characteristic self-adaptive adjustment |
| CN112139678B (en) * | 2020-10-21 | 2022-07-08 | 东莞市德泓海五金制品有限公司 | Workpiece clamp and clamping method based on workpiece characteristic self-adaptive adjustment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107263521A (en) | Magnetic suction disc assembly with adjust automatically and adaptive functions | |
| EP0396210B1 (en) | Hand mechanism | |
| CN106628928B (en) | Combined test assembly line | |
| CN110436190A (en) | A kind of mechanism for picking for workpiece loading and unloading | |
| JP6208601B2 (en) | Robot hand having workpiece positioning function, robot system, and workpiece positioning and gripping method | |
| JP2006239811A (en) | Hand and handling robot | |
| CN108501012A (en) | Puma manipulator | |
| CN208467875U (en) | A kind of three-shaft linkage electromagnetic adsorption type handling device | |
| WO2024032802A1 (en) | Clamping apparatus for wire-cutting machining of blanking part and using method of clamping apparatus | |
| CN113927586A (en) | Manipulator capable of clamping workpieces in different shapes and using method thereof | |
| CN114628297B (en) | Quartz boat feeding and discharging device for processing solar silicon wafers | |
| CN210594215U (en) | Inhale and press from both sides integral type end effector | |
| CN209740224U (en) | Tongs of pocket type article | |
| CN207645599U (en) | A kind of carrying mechanism combined by vacuum cup and cylinder | |
| CN210884222U (en) | Workpiece picking manipulator | |
| CN104400543B (en) | A kind of electric machine-tool loading and unloading manipulator | |
| CN115488916A (en) | Self-adaptive flexible grabbing method | |
| CN212100939U (en) | Clamp and moving platform | |
| CN211682187U (en) | Negative pressure automatic cloth suction device | |
| CN204078154U (en) | The automatic packing production line of a kind of sucker | |
| CN218658667U (en) | Thin-wall workpiece clamping mechanism | |
| CN207943587U (en) | A kind of de-stacking fixture sucker hook component | |
| CN212352059U (en) | Magnetic attraction type mechanical finger | |
| CN112551178A (en) | Clamping device and stacking equipment | |
| CN218856985U (en) | Sucker device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |